FAKULTI KEJURUTERAAN ELEKTRIK
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
FINAL YEAR PROJECT
DEVELOPMENT OF TELE-OPERATED ANIMATRONIC HAND
Azlina binti Md Amin Teng
Supervisor’s Endorsement
“I hereby declare that I have read through this report entitle “Development of Tele-Operated Animatronic Hand” and found that it has comply the partial fulfilment for awarding the degree of Bachelor of Mechatronics Engineering”
Signature : ...
Supervisor’s Name : ...
DEVELOPMENT OF TELE-OPERATED ANIMATRONIC HAND
AZLINA BINTI MD AMIN TENG
A report submitted in partial fulfilment of the requirements for the degree of BACHELOR OF MECHATRONICS ENGINEERING
Faculty of Electrical Engineering
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
Student Declaration
I declare that this report entitle “Development of Tele-Operated Animatronic Hand” is the result of my own research except as cited in the references. The report has not been accepted for any degree and is not concurrently submitted in candidature of any other degree.
Signature : ...
Name : ...
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ACKNOWLEDGEMENT
Bismillahirrahmannirrahim,
Praise to Allah SWT, whom with His Willingness to give me chance to complete my Final Year Project. Firstly, I would like to express my deepest thanks and my deepest appreciation to my project supervisor for first semester, Puan Norafizah Binti Abas and my project supervisor for second semester, DR. Muhammad Fahmi Bin Miskon for their encouragement, guidance, time and willingness to teach, support and help me throughout this whole process from beginning until completing this report.
Next, I would like to thank Universiti Teknikal Malaysia Melaka (UTeM) for providing me enough equipment and tools for me to carry on with my project. Without tools and equipment provided, I may not be able to complete this project successfully.
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ABSTRACT
III
ABSTRAK
IV
1.2 Motivation and Significant of the Research 2-3
1.3 Problem Statement 3-4
1.4 Objective 4
1.5 Scope 5
1.6 Report Outline 5-6
2 LITERATURE REVIEW
2.1 Theory and Basic Principles 7
2.1.1 Animatronic Hand 7-8
2.1.2 Anatomy of Human Hand 8-10
2.1.3 Basic Principles 10-11
2.2 Review of Previous Related Work 11
2.2.1 Development of Robotic Hand 12-14
2.2.2 Configuration of Hand 14-19
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2.2.4 Performances Test of Robotic Hand 21-22
2.3 Summary and Discussion of the Review 23
2.3.1 The Design of Robotic Hand 23-25
2.3.2 Device to Control 25-26
2.3.3 Performances Test of Robotic Hand 26
2.4 Summary of the Design 26-27
3 METHODOLOGY
3.1 Introduction 28-29
3.2 Design of Tele-Operated Animatronic Hand 30
3.2.1 Design of Animatronic Hand 30-31
3.2.2 Component Selection for the Animatronic Hand and
Tele-Operated Hand 31-33
3.2.3 Electronic Circuit Design for the Animatronic Hand
and Tele-Operated Hand 33
3.2.3.1 Servo Motors 33
3.2.3.2 Flex Sensor 34
3.2.4 Component Selection for the Design Circuit 34-35
3.3 Analysis of Performance of Animatronic Hand 35
3.3.1 Experiment of Accuracy Test 36-37
3.3.2 Experiment of Repeatability Test 38-39
3.4 Safety and Precautions 39
4 RESULT AND DISCUSSION
4.1 Introduction 40
4.2 Design of Highly Accurate Tele-Operated 14 DOF
Animatronic Hand 40-42
4.3 Analysis of Performance 42
4.3.1 Accuracy Test 42-48
4.3.2 Repeatability Test 48-50
5 CONCLUSION AND RECOMMENDATION 51
REFERENCES 52-54
VI
LIST OF TABLES
TABLE TITLE PAGE
2.1 The design of robotic hand 23
2.2 Device to Control with Various Types of Sensor Used 25
2.3 Performances Test of Robotic Hand 26
3.1 Servo motor specification 31
4.11
Table of absolute error, relative error, percentage error, accuracy and percentage accuracy of ring finger, middle finger, index finger and thumb
VII
LIST OF FIGURES
FIGURE TITLE PAGE
1.1 Applications of Industrial Robots 1
1.2 The injury of hands cause by hydrofluoric acid 3
2.1 Animatronic Hand 8
2.2 A picture of hand with twenty seven bones and twenty seven joints 9
2.3 A picture of hand with thirty four muscles, countless blood vessels, nerves and soft tissue with a hundred over ligaments and tendons 9
2.4 Human hand is classified into three groups which are wrist, carpal
and digital bones 9
2.5 Flex Sensor 10
2.6 Variable reading of resistance 11
2.7 Voltage Divider 11
2.14 Hand Gesture Control for 5-Axes Prototype Manipulator 15
2.15 Shadow Dexterous Hand C5 (back) and C6M (front) 15
2.16 Hand Gesture Control for 5-Axes Prototype Manipulator 16
2.17 Dexterous Robotic Hand 16
2.18 Gifu Hand III 17
2.19 Five-fingered Robot Hand using Ultrasonic Motors and Elastic
Elements 17
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2.21 Design and Analysis of a Robotic Hand for Prosthetic Device 18
2.22 A Designing of Humanoid Robot Hands in Endoskeleton and
Exoskeleton Styles 18
2.23 Design of 5 D.O.F Robot Hand with an Artificial Skin for an
Android Robot 19
2.24 Acceleration Sensing Glove 19
2.25 Electrodes is attached on the surface of the hand 20
2.26 CyberGlove II 20
2.27 Flex sensor glove 21
2.28 Setup for repeatability test of Utah Hand 22
2.29 LUCS Haptic Hand I holding orange (grasping test) 22
3.1 Project Methodology flowchart (overall) 29
3.2 The Design of 14 DOF Tele-Operated Animatronic Hand 30
3.3 Crank with the increase of length (wood stick) 31
3.4 Servo motor 32
4.1 The Overall Design of Tele-Operated 14 DOF Animatronic Hand
(with wire) 41
4.2 The Design of Tele-Operated Hand (wireless) 41
4.3 The Design of 14 DOF Animatronic Hand (wireless) 42
4.4 The axes (purple colour) and point (red colour) of human hand 43
4.5 The axes (purple colour) and point (blue colour) of animatronic
hand 43
4.6 The overlapped graph of both human pinky finger (blue colour)
and designed pinky finger (orange colour) plotted 44
4.7 The angle of the human hand pinky and the animatronic hand pinky
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4.8 The angle of the human pinky finger and the animatronic hand
pinky when started to bend 45
4.9 The angle of the human pinky finger and the animatronic hand
pinky finger when fully bend 46
4.10 The angle of the human pinky finger and the animatronic hand
pinky finger in relaxed mode (end) 47
4.11 The overlapped graph of angle of three experiment of the human
pinky finger against the time 48
4.12 The overlapped graph of angle of three experiment of the
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LIST OF APPENDICES
APPENDICES TITLE PAGE
A Gantt Chart 56
B Coding for Flex Sensors and Servo Motors (with wire) 57
C Coding for Flex Sensors (Wireless) 58
D Coding for Servo Motors (Wireless) 59
Table 4.1 Angle of pinky finger of human hand and the time taken 60 Table 4.2 Angle of pinky finger of animatronic hand and the time taken 61
Table 4.3 Angle of ring finger of human hand and the time taken 62
Table 4.4 Angle of ring finger of animatronic hand and the time taken 63 Table 4.5 Angle of middle finger of human hand and the time taken 64 Table 4.6 Angle of middle finger of animatronic hand and the time taken 65 Table 4.7 Angle of index finger of human hand and the time taken 66 Table 4.8 Angle of index finger of animatronic hand and the time taken 67
Table 4.9 Angle of thumb of human hand and the time taken 68
Table 4.10 Angle of thumb of animatronic hand and the time taken 69
Table 4.11
Table of absolute error, relative error, percentage error, accuracy and percentage accuracy of ring finger, middle finger, index finger and thumb
47
Table 4.12 Human hand pinky finger 70
Table 4.13 Pinky finger of the animatronic hand 70
Table 4.14 Human hand ring finger 71
Table 4.15 Ring finger of the animatronic hand 71
Table 4.16 Human hand middle finger 72
Table 4.17 Middle finger of the animatronic hand 72
Table 4.18 Human hand point finger 73
Table 4.19 Point finger of the animatronic hand 73
Table 4.20 Human hand thumb 74
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CHAPTER 1
INTRODUCTION
1.1 Research Background
In today’s world, robots have become part and parcel of human life. The population of robots have tremendously increasing year by year which can be clearly seen when Arturo Baroncelli, the President of the International Federation of Robotics (IFR) [1] stated that Year 2013 has shown another record in the sales of robot with 168,000 of units. This quantities of robots sales has a high magnificent demand in the Asian market which can be referred to Metra Martech's report “Positive Impact of Industrial Robots on Employment Updated in January 2013”. The growth of industrial robots will continue to accelerate.
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1.2 Motivation and Significant of the Research
Robots have the ability to imitate or copy human movement like hands, legs, body and other parts of body. According to Peter Gorle, “Positive Impact of Industrial Robots on Employment Updated in January 2013” [2], human unable to make products with precision or consistency like robots, working conditions of robots are more ideal than human and the labour cost imbalanced can be well-balanced when robots are used.
Robots have the abilities to perform and do more tasks in many aspects like industries, chemical, medical and many more than human can do. According to Mathias Wiklund, COO Comau, Robotics, Italy [3], robots are widely used due to its abilities which resulted in lots of new applications needed to be explored. He added that in automotive business especially will likely be the biggest in worldwide that use robots for a long period of time in terms of quality, productivity and many more.
Figure 1.1: Applications of Industrial Robots [4]
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In robotic hand handling section, there are many problems that occurs while handling items, products or objects. Sometimes, it can affect the product, objects, tools or human itself (workers) especially in Industries. For example like slippage of a hazardous chemical products or any objects which sometimes may lead to death. To overcome this problem, many technology has been used to developed robotic hand which focus more on the end effectors (grippers). Different robots used different types of grippers. The grippers or end effectors plays an important role to hold or place an items, thus, the grippers must be designed in the best design.
The importance of doing this project is to create an animatronic hand via glove that can substitute real human hand and reduce the tendency of slippage where it eventually reduce accidents. Thus, this project is going to propose the ideas of animatronic hand for industries which can handle the object, tools or products better.
1.3 Problem Statement
Robots have helped many industries especially in the areas of safety. This statement can be supported when Marlin Steel, Baltimore, MD, USA [2], stated the advantages of using robots makes the working environment safe. He added that, robot not only helps to create a safe working environment, but also benefit the company and workers. Robot hands helps to avoid injuries especially in handling hazardous things. This can be seen in Figure 1.2 where the injury is cause by hydrofluoric acid (used for metal cleaning, glass etching and many more) [5]. Many injuries like back pain (ergonomic issues) and many more types of injuries can lead to fatal error or maybe worse, death if it is not well treated. Thus, the ideas of animatronic hand is proposed.
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Robot hands especially the end effectors is the most crucial parts of robots hands in handling process. The Design of a Robotic Arm with Gripper & End Effector for Spot Welding developed by Puran Singh, Anil Kumar, Mahesh Vashisth from the Department of Mechanical and Automation Engineering, Amity School of Engineering and Technology Delhi, India, 2013 [6], designed a gripper with 2 DOF with 2 fingers to pick, hold and grasped various types of objects (shapes).
The disadvantages of using gripper is that the handling is not as secured as normal hand (five fingers) due to its number of fingers (two). Thus, this project is going to propose the ideas of animatronic hand for industries which can handle the object, tools or products better. This animatronic hand imitates the movement of human hand so that the work done is better.
In order to make the animatronic hand better in handling the product, the challenges faced in designing this hand is to make every designed fingers movement to be accurate and no delay. In order to make the designed animatronic hand more accurate in movement and no delay, the idea is proposed by increasing the length of the crank. By increasing the length of the crank, the movement will be more precise as it will pull the string farther which will make the fingers to bend more compared to shorter crank. However, by increasing the length of the crank, the force required for the shaft to move is greater when it pulls further due to the weight of the added load. In order to find balance solution between accuracy and force, I assume by using a lighter object to extend the length of crank. When lighter object is used to extend the crank, the accuracy can be achieved, thus the force due to the weight of added load can be lessen.
1.4 Objective
The objective of this research are:-
1. To design highly accurate tele-operated 14 DOF animatronic hand (prototype) 2. To analyse overall system performance in terms of tele-operation accuracy and
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1.5 Scope
This project involves two parts which are hardware and software. The scopes of this project are:-
i. To fabricate the tele-operated animatronic hand for grasp purposes that has 14 DOF ii. Each finger used only one actuator with limited movement and it do not have any
ball joint
iii. The glove only able to control one movement of each finger
iv. To produce animatronic hand by using piping tube with the size of 5.5cm - 7.5cm which will be used as fingers thus it does not have the ability to carry a heavy object v. Size of the palm is from the range of 8cm – 9.5cm
vi. The experiment will be analysed in terms of tele-operation accuracy and repeatability which will be carried out in lab
1.6 Report Outline
The first chapter is about a brief explanation on the research background of animatronic hand on the reason why robot hands are required in industries. Motivation is the main idea of making this project and problem statement is included to identify and solved the problem in making of animatronic hand. The objective is included to see whether it is achieved at the end of the animatronic hand project and the scope is also included in this report to limit certain criteria that is unable to achieve due to some reason.
The second chapter is about the literature review of animatronic hand. It is mainly about the theory and basic principles of animatronic hand, anatomy of human hands, review of previous works or journal and the summary and the discussion of the review.
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DOF animatronic hand which consists of the design parameter, the components selection of the animatronic hand and operated hand, electronic circuit for animatronic hand and tele-operated and component selection for the design circuit. Finally, the analysis which is about the complete procedure of the experiment and safety precautions.
The fourth chapter is about the result and discussion. In this chapter, the result of the test in terms of accuracy and repeatability is shown and discussed.
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CHAPTER 2
LITERATURE REVIEW
2.1 Theory and Basic Principles
This section covers about the theory and the basic principles of animatronic hand that are related to the development of animatronic hand. It covers with three subsection which are animatronic hand, anatomy of human hand and basic principles. Animatronic hand covers the theory of animatronic hand and how it works. Anatomy of human hand covers about the basic theory of human hand and basic principles is mainly about the principle on how the material like sensor works.
2.1.1 Animatronic Hand
According to Macmillan Dictionary, 2009-2014 [7], animatronic means a technology that use an electronic system to operate a puppets like models of an animals or people or can be simplified as the combination of animation and electronic.
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movement of real human hand. The glove uses flex sensors as the sensors and servo motors as an actuator. When the glove (flex sensors are attached on the glove) moves, the servo motors will pull the wires that attached to each fingers of the design hand.
Figure 2.1: Animatronic Hand [8]
2.1.2 Anatomy of Human Hand
According to Oxford Dictionary, 2014 [9] states that hand is defined as the end part of an individual arm beyond the wrist including the thumb, fingers and palm.
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Figure 2.2: A picture of hand with twenty seven bones and twenty seven joints [12]
Figure 2.3: A picture of hand with thirty four muscles, countless blood vessels, nerves and soft tissue with a hundred over ligaments and tendons [12]
Figure 2.4: Human hand is classified into three groups which are wrist, carpal and digital bones [13]
![Figure 1.1: Applications of Industrial Robots [4]](https://thumb-ap.123doks.com/thumbv2/123dok/488514.53808/17.595.164.429.402.581/figure-applications-of-industrial-robots.webp)
